Lenze i950

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System bus topology

X246 System bus interface EtherCAT IN

x247 System bus interface EtherCAT OUT

X6 Ethernet NRT interface

A EtherCAT system bus

B Engineering PC

M System bus master

S1 ... 15 System bus slaves 1 ... 15

Conguring the network

therCAT system bus

367

Main Page

Default Chapter3
- Table of Contents3
1 About this Document15
- Document Description15
  - Further Documents15
- Notations and Conventions16
2 Safety Instructions17
- Basic Safety Instructions17
- Application as Directed17
- Residual Hazards18
3 Product Information19
- Identification of the Products19
  - Product Codes19
  - Nameplates20
- Features21
4 Commissioning27
- Important Notes27
- Operating Interfaces28
  - Engineering Tool »EASY Starter29
    - Generate a Connection between Inverter and »EASY Starter30
- General Information on Parameter Setting31
- Commissioning35
- Saving the Parameter Settings36
  - Save Parameter Settings with »EASY Starter36
5 Basic Setting37
- Device Name37
- Mains Voltage37
- Function Assignment of the Inputs and Outputs (Default Setting)37
- Motor Data38
  - Select Motor from Motor Catalogue39
  - Manual Setting of the Motor Data41
- Motor Control Mode44
6 Technology Application (TA) Basic Settings45
- Kinematic Settings46
- Motion Settings53
- Defining Control Sources80
- System Bus Communication82
7 Configuring the "Sync and Correction" TA89
- Control Settings90
- Interface91
- Master Value Sources100
- Position Trimming and Position Offset116
- Position Offset from Master120
- Position Synchronism121
- Position Clutch123
- Master Value Correction (Register Control)134
- Tool Correction143
- Signal Flow147
8 Start, Stop and Rotating Direction Commands153
- Control Selection153
9 Configure Position Control154
- Basic Setting155
  - Following Error Detection and In-Position Detection156
  - Interpolation157
- Operating Mode "Cia 402 Cyclic Sync Position Mode (Csp)158
- Process Input Data (Cia 402 Objects)162
- Process Output Data (Cia 402 Objects)163
- Monitoring the Position Error164
- Position Detection with Touch Probe (TP)165
- Setpoint Diagnostics170
10 Configure Speed Control171
- Basic Setting171
- Operating Mode "Cia 402 Velocity Mode (Vl)172
- Operating Mode "Cia 402 Cyclic Sync Velocity Mode (Csv)177
- Process Input Data (Cia 402 Objects)183
- Process Output Data (Cia 402 Objects)185
- Monitoring the Speed Deviation186
11 Configuring the Torque Control187
- Basic Setting188
  - Torque Limits189
  - Speed Limitation190
- Operating Mode "Cia 402 Cyclic Sync Torque Mode (Cst)191
- Process Input Data (Cia 402 Objects)195
- Process Output Data (Cia 402 Objects)197
- Setpoint Diagnostics198
12 Configuring the Feedback System199
- Configure Feedback System for Motor Control200
- Second Feedback System for the Techology Application213
- Encoder: Evaluation of Safely Speed and Position224
- Synchronous Motor: Pole Position Identification (PPI)225
13 Configuring the Motor Control236
- Servo Control for Synchronous Motor (SC-PSM)237
  - Required Commissioning Steps237
- Servo Control for Asynchronous Motor (SC-ASM)238
  - Required Commissioning Steps238
- Sensorless Control for Synchronous Motor (SL-PSM)238
- V/F Characteristic Control for Asynchronous Motor (VFC Open Loop)239
- Parameterisable Motor Functions251
- Options for Optimising the Control Loops257
- Fine Adjustment of the Motor Model274
- Parameterise Filter Elements in the Setpoint Path284
  - Jerk Limitation284
  - Notch Filter (Band-Stop Filter)285
- Motor Protection288
- Frequency and Speed Limitations300
- Testing the Motor Control301
14 O Extensions and Control Connections307
- Configure Digital Inputs307
- Configure Analog Inputs309
  - Analog Input 1309
- Configure Digital Outputs311
  - Digital Output 1311
15 Configure Engineering Port312
- Basic Setting313
- NTP Server Addresses314
- Diagnostics314
16 Configuring the Network315
- Device Profile Cia316
- Ethercat334
- Profinet354
- Ethercat System Bus366
17 Device Functions377
- Optical Device Identification377
- Reset Parameters to Default378
- Saving/Loading the Parameter Settings379
- Enabling the Device380
- Restart Device380
- Restarting Extended Safety380
- Export Logbook380
- Delete Logbook Files381
- Activate Loaded Application381
- Uploading the Application381
- Inverter Control Word382
- Access Protection382
  - Brand Protection382
- Switching Frequency Changeover382
- Device Overload Monitoring (I*T)383
- Heatsink Temperature Monitoring384
- Update Device Firmware384
  - Manual Firmware Download with »EASY Starter (Firmware Loader)384
    - 17.16.1.1 Download Via Ethernet Connection384
18 Additional Functions385
- Brake Energy Management385
  - Use of a Brake Resistor385
- Manual Jog Parameters386
- Mains Failure Control387
- Oscilloscope Function388
19 Safety Functions397
- Safe Torque off (STO)398
- Safe Emergency Stop (SSE)400
- Ramp Monitoring401
- Safe Stop 1 (SS1)403
- Safe Stop 2 (SS2)406
- Safe Operating Stop (SOS)409
- Safe Maximum Speed (SMS)411
- Safely-Limited Speed (SLS)412
- Safe Speed Monitor (SSM)417
- Safely Limited Increment (SLI)418
- Safe Direction (SDI)420
- Safely-Limited Position (SLP)422
- Position-Dependent Safe Speed (PDSS)425
- Mini-Homing427
- Safe Homing (SHOM)428
- Safe Cam (SCA)432
- Operation Mode Selector (OMS)434
- Enable Switch (ES)437
- Repair Mode Select (RMS)438
- Cascading (CAS)440
- Safe Network Interfaces441
  - Fsoe Connection441
- Connection to the Applications442
  - Inputs442
  - Outputs443
  - Internal Communication443
  - Control Signals443
  - Status Signals445
- Safe Parameter Setting449
  - Safety Address449
  - Parameter Set Information449
- Response Times450
- Diagnostics453
  - LED Status Display453
    - 19.25.1.1 LED Status During Parameter Set Transfer453
  - Error History Buffer453
  - Diagnostic Parameters455
20 Technical Data456
- Standards and Operating Conditions456
- 3-Phase Mains Connection458
  - Rated Data458
- 3-Phase Mains Connection 480 V460
  - Rated Data460
21 Appendix462
- Parameter Attribute List462
- Glossary496

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